OpenRaiser/Intern-Atlas huggingface dataset:
Attention-based Proposals Refinement for 3D Object Detection
Venue: arXiv cs.CV 2022
Year: 2022

Recent advances in 3D object detection are made by developing the refinement stage for voxel-based Region Proposal Networks (RPN) to better strike the balance between accuracy and efficiency. A popular approach among state-of-the-art frameworks is to divide proposals, or Regions of Interest (ROI), into grids and extract features for each grid location before synthesizing them to form ROI features. While achieving impressive performances, such an approach involves several hand-crafted components (e.g. grid sampling, set abstraction) which requires expert knowledge to be tuned correctly. This paper proposes a data-driven approach to ROI feature computing named APRO3D-Net which consists of a voxel-based RPN and a refinement stage made of Vector Attention. Unlike the original multi-head attention, Vector Attention assigns different weights to different channels within a point feature, thus being able to capture a more sophisticated relation between pooled points and ROI. Our method achieves a competitive performance of 84.85 AP for class Car at moderate difficulty on the validation set of KITTI and 47.03 mAP (average over 10 classes) on NuScenes while having the least parameters compared to closely related methods and attaining an inference speed at 15 FPS on NVIDIA V100 GPU. The code is released at https://github.com/quan-dao/APRO3D-Net.
VibroWeight: Simulating Weight and Center of Gravity Changes of Objects in Virtual Reality for Enhanced Realism
Venue: arXiv cs.HC 2022
Year: 2022

Haptic feedback in virtual reality (VR) allows users to perceive the physical properties of virtual objects (e.g., their weight and motion patterns). However, the lack of haptic sensations deteriorates users' immersion and overall experience. In this work, we designed and implemented a low-cost hardware prototype with liquid metal, VibroWeight, which can work in complementarity with commercial VR handheld controllers. VibroWeight is characterized by bimodal feedback cues in VR, driven by adaptive absolute mass (weights) and gravity shift. To our knowledge, liquid metal is used in a VR haptic device for the first time. Our 29 participants show that VibroWeight delivers significantly better VR experiences in realism and comfort.
Inducing Structure in Reward Learning by Learning Features
Venue: arXiv cs.RO 2022
Year: 2022

Reward learning enables robots to learn adaptable behaviors from human input. Traditional methods model the reward as a linear function of hand-crafted features, but that requires specifying all the relevant features a priori, which is impossible for real-world tasks. To get around this issue, recent deep Inverse Reinforcement Learning (IRL) methods learn rewards directly from the raw state but this is challenging because the robot has to implicitly learn the features that are important and how to combine them, simultaneously. Instead, we propose a divide and conquer approach: focus human input specifically on learning the features separately, and only then learn how to combine them into a reward. We introduce a novel type of human input for teaching features and an algorithm that utilizes it to learn complex features from the raw state space. The robot can then learn how to combine them into a reward using demonstrations, corrections, or other reward learning frameworks. We demonstrate our method in settings where all features have to be learned from scratch, as well as where some of the features are known. By first focusing human input specifically on the feature(s), our method decreases sample complexity and improves generalization of the learned reward over a deepIRL baseline. We show this in experiments with a physical 7DOF robot manipulator, as well as in a user study conducted in a simulated environment.
K-nearest Multi-agent Deep Reinforcement Learning for Collaborative Tasks with a Variable Number of Agents
Venue: arXiv cs.LG 2022
Year: 2022

Traditionally, the performance of multi-agent deep reinforcement learning algorithms are demonstrated and validated in gaming environments where we often have a fixed number of agents. In many industrial applications, the number of available agents can change at any given day and even when the number of agents is known ahead of time, it is common for an agent to break during the operation and become unavailable for a period of time. In this paper, we propose a new deep reinforcement learning algorithm for multi-agent collaborative tasks with a variable number of agents. We demonstrate the application of our algorithm using a fleet management simulator developed by Hitachi to generate realistic scenarios in a production site.
Lifelong Dynamic Optimization for Self-Adaptive Systems: Fact or Fiction?
Venue: arXiv cs.SE 2022
Year: 2022

When faced with changing environment, highly configurable software systems need to dynamically search for promising adaptation plan that keeps the best possible performance, e.g., higher throughput or smaller latency -- a typical planning problem for self-adaptive systems (SASs). However, given the rugged and complex search landscape with multiple local optima, such a SAS planning is challenging especially in dynamic environments. In this paper, we propose LiDOS, a lifelong dynamic optimization framework for SAS planning. What makes LiDOS unique is that to handle the "dynamic", we formulate the SAS planning as a multi-modal optimization problem, aiming to preserve the useful information for better dealing with the local optima issue under dynamic environment changes. This differs from existing planners in that the "dynamic" is not explicitly handled during the search process in planning. As such, the search and planning in LiDOS run continuously over the lifetime of SAS, terminating only when it is taken offline or the search space has been covered under an environment. Experimental results on three real-world SASs show that the concept of explicitly handling dynamic as part of the search in the SAS planning is effective, as LiDOS outperforms its stationary counterpart overall with up to 10x improvement. It also achieves better results in general over state-of-the-art planners and with 1.4x to 10x speedup on generating promising adaptation plans.
Simplified Algorithms for Order-Based Core Maintenance
Venue: arXiv cs.DB 2022
Year: 2022

Graph analytics attract much attention from both research and industry communities. Due to the linear time complexity, the $k$-core decomposition is widely used in many real-world applications such as biology, social networks, community detection, ecology, and information spreading. In many such applications, the data graphs continuously change over time. The changes correspond to edge insertion and removal. Instead of recomputing the $k$-core, which is time-consuming, we study how to maintain the $k$-core efficiently. That is, when inserting or deleting an edge, we need to identify the affected vertices by searching for more vertices. The state-of-the-art order-based method maintains an order, the so-called $k$-order, among all vertices, which can significantly reduce the searching space. However, this order-based method is complicated for understanding and implementation, and its correctness is not formally discussed. In this work, we propose a simplified order-based approach by introducing the classical Order Data Structure to maintain the $k$-order, which significantly improves the worst-case time complexity for both edge insertion and removal algorithms. Also, our simplified method is intuitive to understand and implement; it is easy to argue the correctness formally. Additionally, we discuss a simplified batch insertion approach. The experiments evaluate our simplified method over 12 real and synthetic graphs with billions of vertices. Compared with the existing method, our simplified approach achieves high speedups up to 7.7x and 9.7x for edge insertion and removal, respectively.
Scenario-based Requirements Engineering for Complex Smart City Projects
Venue: arXiv cs.SE 2022
Year: 2022

Various stakeholders with different backgrounds are involved in Smart City projects. These stakeholders define the project goals, e.g., based on participative approaches, market research or innovation management processes. To realize these goals often complex technical solutions must be designed and implemented. In practice, however, it is difficult to synchronize the technical design and implementation phase with the definition of moving Smart City goals. We hypothesize that this is due to a lack of a common language for the different stakeholder groups and the technical disciplines. We address this problem with scenario-based requirements engineering techniques. In particular, we use scenarios at different levels of abstraction and formalization that are connected end-to-end by appropriate methods and tools. This enables fast feedback loops to iteratively align technical requirements, stakeholder expectations, and Smart City goals. We demonstrate the applicability of our approach in a case study with different industry partners.
Speed-vs-Accuracy Tradeoff in Collective Estimation: An Adaptive Exploration-Exploitation Case
Venue: arXiv cs.MA 2022
Year: 2022

The tradeoff between accuracy and speed is considered fundamental to individual and collective decision-making. In this paper, we focus on collective estimation as an example of collective decision-making. The task is to estimate the average scalar intensity of a desired feature in the environment. The solution we propose consists of exploration and exploitation phases, where the switching time is a factor dictating the balance between the two phases. By decomposing the total accuracy into bias and variance, we explain that diversity and social interactions could promote the accuracy of the collective decision. We also show how the exploration-vs-exploitation tradeoff relates to the speed-vs-accuracy tradeoff. One significant finding of our work is that there is an optimal duration for exploration to compromise between speed and accuracy. This duration cannot be determined offline for an unknown environment. Hence, we propose an adaptive, distributed mechanism enabling individual agents to decide in a decentralized manner when to switch. Moreover, the spatial consequence of the exploitation phase is an emergent collective movement, leading to the aggregation of the collective at the iso-contours of the mean intensity of the environmental field in the spatial domain. Examples of potential applications for such a fully distributed collective estimation model are spillage capturing and source localization.
Synthesizing explainable counterfactual policies for algorithmic recourse with program synthesis
Venue: arXiv cs.LG 2022
Year: 2022

Being able to provide counterfactual interventions - sequences of actions we would have had to take for a desirable outcome to happen - is essential to explain how to change an unfavourable decision by a black-box machine learning model (e.g., being denied a loan request). Existing solutions have mainly focused on generating feasible interventions without providing explanations on their rationale. Moreover, they need to solve a separate optimization problem for each user. In this paper, we take a different approach and learn a program that outputs a sequence of explainable counterfactual actions given a user description and a causal graph. We leverage program synthesis techniques, reinforcement learning coupled with Monte Carlo Tree Search for efficient exploration, and rule learning to extract explanations for each recommended action. An experimental evaluation on synthetic and real-world datasets shows how our approach generates effective interventions by making orders of magnitude fewer queries to the black-box classifier with respect to existing solutions, with the additional benefit of complementing them with interpretable explanations.
Extending the Vocabulary of Fictional Languages using Neural Networks
Venue: arXiv cs.CL 2022
Year: 2022

Fictional languages have become increasingly popular over the recent years appearing in novels, movies, TV shows, comics, and video games. While some of these fictional languages have a complete vocabulary, most do not. We propose a deep learning solution to the problem. Using style transfer and machine translation tools, we generate new words for a given target fictional language, while maintaining the style of its creator, hence extending this language vocabulary.
Datasheet for the Pile
Venue: arXiv cs.CL 2022
Year: 2022

This datasheet describes the Pile, a 825 GiB dataset of human-authored text compiled by EleutherAI for use in large-scale language modeling. The Pile is comprised of 22 different text sources, ranging from original scrapes done for this project, to text data made available by the data owners, to third-party scrapes available online.
Model-driven Cluster Resource Management for AI Workloads in Edge Clouds
Venue: arXiv cs.DC 2022
Year: 2022

Since emerging edge applications such as Internet of Things (IoT) analytics and augmented reality have tight latency constraints, hardware AI accelerators have been recently proposed to speed up deep neural network (DNN) inference run by these applications. Resource-constrained edge servers and accelerators tend to be multiplexed across multiple IoT applications, introducing the potential for performance interference between latency-sensitive workloads. In this paper, we design analytic models to capture the performance of DNN inference workloads on shared edge accelerators, such as GPU and edgeTPU, under different multiplexing and concurrency behaviors. After validating our models using extensive experiments, we use them to design various cluster resource management algorithms to intelligently manage multiple applications on edge accelerators while respecting their latency constraints. We implement a prototype of our system in Kubernetes and show that our system can host 2.3X more DNN applications in heterogeneous multi-tenant edge clusters with no latency violations when compared to traditional knapsack hosting algorithms.
A Privacy-Preserving Unsupervised Domain Adaptation Framework for Clinical Text Analysis
Venue: arXiv cs.CL 2022
Year: 2022

Unsupervised domain adaptation (UDA) generally aligns the unlabeled target domain data to the distribution of the source domain to mitigate the distribution shift problem. The standard UDA requires sharing the source data with the target, having potential data privacy leaking risks. To protect the source data's privacy, we first propose to share the source feature distribution instead of the source data. However, sharing only the source feature distribution may still suffer from the membership inference attack who can infer an individual's membership by the black-box access to the source model. To resolve this privacy issue, we further study the under-explored problem of privacy-preserving domain adaptation and propose a method with a novel differential privacy training strategy to protect the source data privacy. We model the source feature distribution by Gaussian Mixture Models (GMMs) under the differential privacy setting and send it to the target client for adaptation. The target client resamples differentially private source features from GMMs and adapts on target data with several state-of-art UDA backbones. With our proposed method, the source data provider could avoid leaking source data privacy during domain adaptation as well as reserve the utility. To evaluate our proposed method's utility and privacy loss, we apply our model on a medical report disease label classification task using two noisy challenging clinical text datasets. The results show that our proposed method can preserve source data's privacy with a minor performance influence on the text classification task.
Bamboo Trimming Revisited: Simple Algorithms Can Do Well Too
Venue: arXiv cs.DS 2022
Year: 2022

The bamboo trimming problem considers $n$ bamboo with growth rates $h_1, h_2, \ldots, h_n$ satisfying $\sum_i h_i = 1$. During a given unit of time, each bamboo grows by $h_i$, and then the bamboo-trimming algorithm gets to trim one of the bamboo back down to height zero. The goal is to minimize the height of the tallest bamboo, also known as the backlog. The bamboo trimming problem is closely related to many scheduling problems, and can be viewed as a variation of the widely-studied fixed-rate cup game, but with constant-factor resource augmentation. Past work has given sophisticated pinwheel algorithms that achieve the optimal backlog of 2 in the bamboo trimming problem. It remained an open question, however, whether there exists a simple algorithm with the same guarantee -- recent work has devoted considerable theoretical and experimental effort to answering this question. Two algorithms, in particular, have appeared as natural candidates: the Reduce-Max algorithm (which always cuts the tallest bamboo) and the Reduce-Fastest$(x)$ algorithm (which cuts the fastest-growing bamboo out of those that have height at least $x$). Both algorithms are conjectured to achieve backlog 2. This paper improves the bounds for both Reduce-Fastest and Reduce-Max. Among other results, we show that the exact optimal backlog for Reduce-Fastest$(x)$ is $x + 1$ for all $x \ge 2$ (proving a conjecture of D'Emidio, Di Stefano, and Navarra in the case of $x = 2$), and we show that Reduce-Fastest$(1)$ does not achieve backlog 2 (disproving a conjecture of D'Emidio, Di Stefano, and Navarra). Finally, we show that there is a different algorithm, which we call the Deadline-Driven Strategy, that is both very simple and achieves the optimal backlog of 2. This resolves the question as to whether there exists a simple worst-case optimal algorithm for the bamboo trimming problem.
GeoGebra Discovery in Context
Venue: arXiv cs.HC 2022
Year: 2022

In our contribution we will reflect, through a collection of selected examples, on the potential impact of the GeoGebra Discovery application on different social and educational contexts.
A 333.9uW 0.158mm$^2$ Saber Learning with Rounding based Post-Quantum Crypto Accelerator
Venue: arXiv cs.CR 2022
Year: 2022

National Institute of Standard & Technology (NIST) is currently running a multi-year-long standardization procedure to select quantum-safe or post-quantum cryptographic schemes to be used in the future. Saber is the only LWR based algorithm to be in the final of Round 3. This work presents a Saber ASIC which provides 1.37X power-efficient, 1.75x lower area, and 4x less memory implementation w.r.t. other SoA PQC ASIC. The energy-hungry multiplier block is 1.5x energyefficient than SoA.
Online Deep Learning based on Auto-Encoder
Venue: arXiv cs.LG 2022
Year: 2022

Online learning is an important technical means for sketching massive real-time and high-speed data. Although this direction has attracted intensive attention, most of the literature in this area ignore the following three issues: (1) they think little of the underlying abstract hierarchical latent information existing in examples, even if extracting these abstract hierarchical latent representations is useful to better predict the class labels of examples; (2) the idea of preassigned model on unseen datapoints is not suitable for modeling streaming data with evolving probability distribution. This challenge is referred as model flexibility. And so, with this in minds, the online deep learning model we need to design should have a variable underlying structure; (3) moreover, it is of utmost importance to fusion these abstract hierarchical latent representations to achieve better classification performance, and we should give different weights to different levels of implicit representation information when dealing with the data streaming where the data distribution changes. To address these issues, we propose a two-phase Online Deep Learning based on Auto-Encoder (ODLAE). Based on auto-encoder, considering reconstruction loss, we extract abstract hierarchical latent representations of instances; Based on predictive loss, we devise two fusion strategies: the output-level fusion strategy, which is obtained by fusing the classification results of encoder each hidden layer; and feature-level fusion strategy, which is leveraged self-attention mechanism to fusion every hidden layer output. Finally, in order to improve the robustness of the algorithm, we also try to utilize the denoising auto-encoder to yield hierarchical latent representations. Experimental results on different datasets are presented to verify the validity of our proposed algorithm (ODLAE) outperforms several baselines.
Variational Autoencoder Generative Adversarial Network for Synthetic Data Generation in Smart Home
Venue: arXiv cs.LG 2022
Year: 2022

Data is the fuel of data science and machine learning techniques for smart grid applications, similar to many other fields. However, the availability of data can be an issue due to privacy concerns, data size, data quality, and so on. To this end, in this paper, we propose a Variational AutoEncoder Generative Adversarial Network (VAE-GAN) as a smart grid data generative model which is capable of learning various types of data distributions and generating plausible samples from the same distribution without performing any prior analysis on the data before the training phase.We compared the Kullback-Leibler (KL) divergence, maximum mean discrepancy (MMD), and Wasserstein distance between the synthetic data (electrical load and PV production) distribution generated by the proposed model, vanilla GAN network, and the real data distribution, to evaluate the performance of our model. Furthermore, we used five key statistical parameters to describe the smart grid data distribution and compared them between synthetic data generated by both models and real data. Experiments indicate that the proposed synthetic data generative model outperforms the vanilla GAN network. The distribution of VAE-GAN synthetic data is the most comparable to that of real data.
Extreme Age of Information for Wireless-Powered Communication Systems
Venue: arXiv cs.IT 2022
Year: 2022

The extreme or maximum age of information (AoI) is analytically studied for wireless communication systems. In particular, a wireless powered single-antenna source node and a receiver (connected to the power grid) equipped with multiple antennas are considered when operated under independent Rayleigh-faded channels. Via the extreme value theory and its corresponding statistical features, we demonstrate that the extreme AoI converges to the Gumbel distribution whereas its corresponding parameters are obtained in straightforward closed-form expressions. Capitalizing on this result, the risk of the extreme AoI realization is analytically evaluated according to some relevant performance metrics, while some useful engineering insights are manifested.
ReconROS Executor: Event-Driven Programming of FPGA-accelerated ROS 2 Applications
Venue: arXiv cs.RO 2022
Year: 2022

Many applications from the robotics domain can benefit from FPGA acceleration. A corresponding key question is how to integrate hardware accelerators into software-centric robotics programming environments. Recently, several approaches have demonstrated hardware acceleration for the robot operating system (ROS), the dominant programming environment in robotics. ROS is a middleware layer that features the composition of complex robotics applications as a set of nodes that communicate via mechanisms such as publish/subscribe, and distributes them over several compute platforms. In this paper, we present a novel approach for event-based programming of robotics applications that leverages ReconROS, a framework for flexibly mapping ROS 2 nodes to either software or reconfigurable hardware. The ReconROS executor schedules callbacks of ROS 2 nodes and utilizes a reconfigurable slot model and partial runtime reconfiguration to load hardware-based callbacks on demand. We describe the ReconROS executor approach, give design examples, and experimentally evaluate its functionality with examples.